// Copyright (c) 2024，D-Robotics.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef _DETECTION_NMS_H_
#define _DETECTION_NMS_H_

#include <vector>

#include "dnn_node/util/output_parser/perception_common.h"

using hobot::dnn_node::output_parser::Detection;
using hobot::dnn_node::output_parser::YOLOSeg;

int InitOutputOrder(const std::vector<int> &output_order, const int model_output_count);

/**
 * Non-maximum suppression
 * @param[in] input
 * @param[in] iou_threshold
 * @param[in] top_k
 * @param[out] result
 * @param[in] suppress
 */
void nms(std::vector<Detection> &input,
         float iou_threshold,
         int top_k,
         std::vector<Detection> &result,
         bool suppress = false);

/**
 * Non-maximum suppression
 * @param[in] input
 * @param[in] iou_threshold
 * @param[in] top_k
 * @param[out] result
 * @param[in] suppress
 */
void yolo5_nms(std::vector<Detection> &input,
               float iou_threshold,
               int top_k,
               std::vector<Detection> &result,
               bool suppress);

void yolo_seg_nms(std::vector<YOLOSeg> &input,
         float iou_threshold,
         int top_k,
         std::vector<YOLOSeg> &result,
         bool suppress = false);


#endif  // _UTIL_NMS_H_
